// Copyright (c) 2012, Hazen Eckert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the The University of Texas at Dallas nor the
//       names of its contributors may be used to endorse or promote products
//       derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OF TEXAS AT DALLAS BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef _motor_driver_H
#define _motor_driver_H

#include <stdint.h>
#include <stdio.h>
#include <strings.h>
#include <string.h>

#include <auv_driver_common/auv_driver.h>

using namespace std;

class motor_driver : public auv_driver {

public:
    motor_driver();
    int setMotorSpeed( int8_t drivePort,         int8_t driveStarboard,
                        int8_t verticleFore,      int8_t verticleAft,
                        int8_t horizontalFore,    int8_t horizontalAft,
                        uint8_t **currentSense,   uint16_t *errorCodes);
    int setMotorSpeed( int8_t *PWM, uint8_t **currentSense, uint16_t *errorCodes);
                        
    int performSelfTest();
    int getSelfTestResults(uint8_t *HBridgeConnectivityBitMask, uint8_t *motorConnectivityBitMask,
		 											  uint16_t *selfTestRuns, uint16_t **zeroPoints, int16_t **currentSense);
};

#endif 
